/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; Copyright (c) 2019 STMicroelectronics.
 * All rights reserved.</center></h2>
 *
 * This software component is licensed by ST under Ultimate Liberty license
 * SLA0044, the "License"; You may not use this file except in compliance with
 * the License. You may obtain a copy of the License at:
 *                             www.st.com/SLA0044
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
#include "can.h"
#include "dma.h"
#include "i2c.h"
#include "rtc.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "bsp_can.h"
#include "bsp_delay.h"

#include "wit_c_sdk.h"

#include "calibrate_task.h"
#include "chassis_task.h"
#include "detect_task.h"
#include "INS_task.h"
#include "led_flow_task.h"

#include "run_task.h"

#include "stdlib.h"
#include "string.h"
#include "stdio.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

uint8_t SLAVE_ADDRESS = 200;

uint8_t buffer_1[2];
uint8_t rx6_buf[2];
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void MX_FREERTOS_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
int fputc(int ch, FILE *f)
{
	HAL_UART_Transmit(&huart6, (uint8_t *)&ch, 1, 0xFFFF);
	return ch;
}
static void Delayms(uint16_t ucMs)
{
	delay_ms(ucMs);
}
/*更新对应陀螺仪数据标志位*/
void SensorDataUpdata(uint32_t uiReg, uint32_t uiRegNum) //
{
	int i;
	for (i = 0; i < uiRegNum; i++)
	{
		switch (uiReg)
		{
			//            case AX:
			//            case AY:
		case AZ:
			s_cDataUpdate |= ACC_UPDATE;
			break;
			//            case GX:
			//            case GY:
		case GZ:
			s_cDataUpdate |= GYRO_UPDATE;
			break;
			//            case HX:
			//            case HY:
		case HZ:
			s_cDataUpdate |= MAG_UPDATE;
			break;
		case Roll:
		case Pitch:
		case Yaw:
			s_cDataUpdate |= ANGLE_UPDATE;
			break;
		default:
			s_cDataUpdate |= READ_UPDATE;
			break;
		}
		uiReg++;
	}
}

/*检查相关功能是否开启函数*/
void CmdProcess(void)
{
	switch (s_cCmd)
	{
	case 'a':
		if (WitStartAccCali() != WIT_HAL_OK)
			printf("\r\nSet AccCali Error\r\n");
		break;
	case 'm':
		if (WitStartMagCali() != WIT_HAL_OK)
			printf("\r\nSet MagCali Error\r\n");
		break;
	case 'e':
		if (WitStopMagCali() != WIT_HAL_OK)
			printf("\r\nSet MagCali Error\r\n");
		break;
	case 'u':
		if (WitSetBandwidth(BANDWIDTH_5HZ) != WIT_HAL_OK)
			printf("\r\nSet Bandwidth Error\r\n");
		break;
	case 'U':
		if (WitSetBandwidth(BANDWIDTH_256HZ) != WIT_HAL_OK)
			printf("\r\nSet Bandwidth Error\r\n");
		break;
	case 'B':
		if (WitSetCanBaud(CAN_BAUD_500000) != WIT_HAL_OK)
			printf("\r\nSet Baud Error\r\n");
		else
		{
			//		 CAN_Mode_Init(c_uiBaud[CAN_BAUD_500000]);
			//		 AutoScanSensor();
		}
		break;
	case 'b':
		if (WitSetCanBaud(CAN_BAUD_250000) != WIT_HAL_OK)
			printf("\r\nSet Baud Error\r\n");
		else
		{
			//		  CAN_Mode_Init(c_uiBaud[CAN_BAUD_250000]);
			//		  AutoScanSensor();
		}
		break;
	case 'R':
		if (WitSetOutputRate(RRATE_10HZ) != WIT_HAL_OK)
			printf("\r\nSet Rate Error\r\n");
		break;
	case 'r':
		if (WitSetOutputRate(RRATE_1HZ) != WIT_HAL_OK)
			printf("\r\nSet Rate Error\r\n");
		break;
	case 'C':
		if (WitSetContent(RSW_ACC | RSW_GYRO | RSW_ANGLE | RSW_MAG) != WIT_HAL_OK)
			printf("\r\nSet RSW Error\r\n");
		break;
	case 'c':
		if (WitSetContent(RSW_ACC) != WIT_HAL_OK)
			printf("\r\nSet RSW Error\r\n");
		break;
	case 'h':
		//		ShowHelp();
		break;
	default:
		return;
	}
	s_cCmd = 0xff;
}
/*更新状态位，命令储存变量*/
char s_cDataUpdate = 0, s_cCmd = 0xff;
/*陀螺仪数据储存变量*/
float fAcc_wit[3], fGyro_wit[3], fAngle_wit[3];

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_CAN1_Init();
  MX_CAN2_Init();
  MX_SPI1_Init();
  MX_TIM4_Init();
  MX_TIM5_Init();
  MX_USART3_UART_Init();
  MX_TIM8_Init();
  MX_I2C3_Init();
  MX_RTC_Init();
  MX_TIM3_Init();
  MX_TIM10_Init();
  MX_USART1_UART_Init();
  MX_USART6_UART_Init();
  MX_TIM2_Init();
  MX_I2C2_Init();
  MX_TIM1_Init();
  /* USER CODE BEGIN 2 */
	can_filter_init();
	delay_init();
	cali_param_init(); // 目前不了解这是干什么的

	HAL_UART_Receive_IT(&huart1, buffer_1, 1); // 开启uart1 uart6的接收中断
	HAL_UART_Receive_IT(&huart6, rx6_buf, 1);

	WitInit(WIT_PROTOCOL_NORMAL, 0x50);	   // 陀螺仪选择串口解码方式
	WitRegisterCallBack(SensorDataUpdata); // 更新陀螺仪标志位
	// WitCanWriteRegister(Can_Send_Msg);
	WitDelayMsRegister(Delayms);
	WitSetContent(RSW_ACC | RSW_GYRO | RSW_ANGLE | RSW_MAG);

  /* USER CODE END 2 */

  /* Call init function for freertos objects (in cmsis_os2.c) */
  MX_FREERTOS_Init();

  /* Start scheduler */
  osKernelStart();

  /* We should never get here as control is now taken by the scheduler */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
	while (1)
	{
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
	}
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 6;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 7;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
	/* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
	/* User can add his own implementation to report the file name and line number,
	   tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
